Waw,
Its getting quite close to my previous ardupirateNG code which was very stable.
Now its just a matter of fine tuning and no more yaw issues for me.
I've loaded the code with arduino and did CLI setup.
I use a sparkfun mag and xbee is configured for 115200.
Did a test with the HK GCS and works just fine.
At the moment I only did stable and simple and had to lower al Pid's
Congrats to the dev team. You made my day!!!!!!
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